Felix Mauch
14b9dd4f1b
send keepalive signal when no (commanding) controller is active
...
Otherwise the hardware disconnects as soon as we stop a controller by hand.
2019-06-27 13:29:09 +02:00
Felix Mauch
8c9f79bc3b
turn around order of commands and keepalive
...
This way we can leave the commands empty very easily
2019-06-27 13:29:09 +02:00
Rune Søe-Knudsen
72330cb98b
Change extrapolation log messages strategy
...
Change the log strategy regarding extrapolation from
make a message every time, to show the maximum number of
extrapolation steps observed in a row and the current count
In this way the log will not be filled up with identical messages,
hiding other messages.
Valuable when running on an unstable network like WIFI
2019-06-27 10:23:26 +02:00
Rune Søe-Knudsen
bd4df1ff5e
Adjust critical sections
...
Optimised the used of the the enter_critical and exit_critical sections
2019-06-27 10:23:23 +02:00
Felix Mauch
792c621f82
correct installation location of tool_comm script
2019-06-27 10:23:20 +02:00
Felix Mauch
98a6e05d18
added socat as exec_dependency
...
socat was missing as an execution dependency, although is is needed by the
tool_communication script.
This solves #2
2019-06-27 10:23:06 +02:00
Rune Søe-Knudsen
0b4da2dab5
Change extrapolation log messages strategy
...
Change the log strategy regarding extrapolation from
make a message every time, to show the maximum number of
extrapolation steps observed in a row and the current count
In this way the log will not be filled up with identical messages,
hiding other messages.
Valuable when running on an unstable network like WIFI
2019-06-25 09:57:47 +00:00
Rune Søe-Knudsen
d42fbb241b
Adjust critical sections
...
Optimised the used of the the enter_critical and exit_critical sections
2019-06-25 09:57:47 +00:00
Felix Mauch
dc0a9dd44d
correct installation location of tool_comm script
2019-06-24 12:10:26 +02:00
Felix Mauch
2883aa1b43
added socat as exec_dependency
...
socat was missing as an execution dependency, although is is needed by the
tool_communication script.
This solves #2
2019-06-24 11:39:13 +02:00
Rune Søe-Knudsen
10ec2515bb
Change to the front README file
...
- Change to the introduction with a purpose of this driver
- Add a comment of how to report issues
- Fix a small type in one of the examples
2019-06-20 15:03:09 +02:00
Felix Mauch
4c1da59970
Move all relevant documentation to the entry README
2019-06-19 16:19:44 +02:00
Felix Mauch
763b96b130
install tool communication script
2019-06-17 14:27:07 +02:00
Felix Mauch
776cdb961a
added rosdoc to rtde_driver
2019-06-17 12:51:08 +02:00
Felix Mauch
9135ea9792
Added README files
2019-06-17 12:05:40 +02:00
Felix Mauch
9f91bec413
Added first version of initial setup
2019-06-17 12:05:40 +02:00
Lea Steffen
148c067fcc
added URCaps enabling communication with rs-485 interface
2019-06-17 10:39:37 +02:00
Lea Steffen
44ce02b198
added URCaps to enable external control
2019-06-17 10:38:46 +02:00
Felix Mauch
7468e1535e
Updated all controller yamls
2019-06-14 15:18:59 +02:00
Felix Mauch
ec3b8c133e
Make all launchfiles follow the ones developed for the ur10s
2019-06-14 15:18:59 +02:00
Felix Mauch
7e6b203b67
replace tcp_accuracy_checker with hash comparison
...
This closes #34
2019-06-14 15:18:59 +02:00
Felix Mauch
34eb8dcf08
split common and control
2019-06-14 15:01:28 +02:00
Felix Mauch
ca3e127f21
hard code tool_comm to false in CB3 launchfiles
2019-06-14 15:01:28 +02:00
Tristan Schnell
fa31081e3a
removed legacy test and related utilites
2019-06-14 07:56:13 +02:00
Tristan Schnell
d88e6f12f4
added and fixed all licensing headers
2019-06-13 18:18:04 +02:00
Tristan Schnell
f2bd2415e9
formatting fix for producer setup
2019-06-13 17:42:16 +02:00
Felix Mauch
30f398ada5
added module docstring and removed unneeded import
2019-06-13 17:29:31 +02:00
Tristan Schnell
6561cbe4c2
removed no longer needed ur_msgs dependency
2019-06-13 17:18:18 +02:00
Tristan Schnell
3aafabec29
removed unused legacy code
2019-06-13 17:18:18 +02:00
Tristan Schnell
d0e995ff7c
implemented error when trying to start driver without connection to a robot
2019-06-13 16:09:37 +02:00
Felix Mauch
fd6a9ee365
Add a checker to inform the user about an uncalibrated robot.
2019-06-13 15:43:46 +02:00
Felix Mauch
c714af16ff
added a publisher for the tcp pose
2019-06-13 15:00:20 +02:00
Felix Mauch
c3d92dcde5
Use tf for transforming the fts measurements
2019-06-13 15:00:20 +02:00
Felix Mauch
eb7b66929b
added a node to startup RS485 interface
...
and added it to the launchfiles.
2019-06-12 17:57:40 +02:00
Tristan Schnell
e54535bcd3
added basic controller configs for ur3e and ur5e
2019-06-12 17:32:12 +02:00
Tristan Schnell
ec0ec206c0
adapted all ros_control launch files to start the driver correctly
2019-06-12 17:32:12 +02:00
Tristan Schnell
5eed6327ba
added exceptions for problems in rtde client handshake
2019-06-12 13:29:30 +02:00
Felix Mauch
adacb219c7
corrected naming scheme of fts-transformation
2019-06-12 12:23:03 +02:00
Felix Mauch
25e9aafc14
Added controllers stopper
...
This node takes care about taking down and restarting controllers based on
the robot's state.
Closes #48
2019-06-12 12:01:23 +02:00
Tristan Schnell
ad129da4c1
reset controllers only on when robot program is started
2019-06-12 11:44:18 +02:00
Tristan Schnell
b2503352a9
fixed requestProgram function in script sender not returning correctly
2019-06-12 10:36:49 +02:00
Felix Mauch
75d6ae0a19
Move debug output to DEBUG stream
2019-06-12 10:20:13 +02:00
Felix Mauch
00d20cb501
removed info about speed scaling rampup
2019-06-12 10:18:20 +02:00
Felix Mauch
5f405b3996
explicitly throw special exception when tool_comm is not available
...
This way, we can catch it and give a better feedback to the user.
2019-06-12 09:54:31 +02:00
Felix Mauch
520cd4d860
throw exception when tool communication is requested for CB3
2019-06-12 09:54:31 +02:00
Felix Mauch
e0201002f6
introduced VersionInformation
...
Use this as a data container to store version information in.
2019-06-12 09:54:31 +02:00
Felix Mauch
e1e71b5cb4
setup timeout for tcp sockets
...
If we want to be able to stop the producer, we'll have to make sure,
it is not hanging inside the recv function because no new packages came in.
2019-06-12 09:54:27 +02:00
Felix Mauch
bb36999868
only join cThread if created
2019-06-12 09:32:46 +02:00
Felix Mauch
4cd13b6b83
implemented initialization of rs485 interface.
2019-06-12 09:32:46 +02:00
Tristan Schnell
e4a2e9e743
renamed hardware interface function that handles changes in robot-program state
2019-06-11 14:02:07 +02:00
